By Topic

Real-time control architecture of a novel Single-Port lapaRoscopy bimaNual roboT (SPRINT)

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Niccolini, M. ; BioRobotics Inst., Scuola Superiore Sant''Anna, Pisa, Italy ; Petroni, G. ; Menciassi, A. ; Dario, P.

This paper presents a novel master-slave teleoperated robotic platform designed for Single Port Laparoscopy. The SPRINT (Single-Port lapaRoscopy bimaNual roboT) is composed of two high-dexterity 6 Degrees of Freedom (DOFs) robotic arms, a stereoscopic camera and a dedicated console for the robot control by the surgeon. Along with a short summary of the hardware features of the system, this paper describes the real-time control architecture of the SPRINT. Particular attention was given to the kinematic coupling between the master and the slave manipulators, as well as to the inverse kinematics algorithm. Tests performed to validate the performance of the robot in terms of accuracy are satisfactory, thus positioning the SPRINT as a candidate for the next generation of robots for Single Port Laparoscopy.

Published in:

Robotics and Automation (ICRA), 2012 IEEE International Conference on

Date of Conference:

14-18 May 2012